相关论文: Optimistic Reinforcement Learning-Based Skill Inse…

Path planning in dynamic environments is a fundamental challenge in intelligent transportation and robotics, where obstacles and conditions change over time, introducing uncertainty and requiring continuous adaptation. While existing…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design…

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

The integration of Reinforcement Learning (RL) with heuristic methods is an emerging trend for solving optimization problems, which leverages RL's ability to learn from the data generated during the search process. One promising approach is…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

While reinforcement learning (RL) holds great potential for decision making in the real world, it suffers from a number of unique difficulties which often need specific consideration. In particular: it is highly non-stationary; suffers from…

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…

We introduce an algorithm for model-based hierarchical reinforcement learning to acquire self-contained transition and reward models suitable for probabilistic planning at multiple levels of abstraction. We call this framework Planning with…

Simulation is essential for developing robotic manipulation systems, particularly for task and motion planning (TAMP), where symbolic reasoning interfaces with geometric, kinematic, and physics-based execution. Recent advances in Large…

We study reinforcement learning (RL) in settings where observations are high-dimensional, but where an RL agent has access to abstract knowledge about the structure of the state space, as is the case, for example, when a robot is tasked to…

This paper introduces a hybrid algorithm of deep reinforcement learning (RL) and Force-based motion planning (FMP) to solve distributed motion planning problem in dense and dynamic environments. Individually, RL and FMP algorithms each have…

Robust reinforcement learning (RL) aims to find a policy that optimizes the worst-case performance in the face of uncertainties. In this paper, we focus on action robust RL with the probabilistic policy execution uncertainty, in which,…

We present PRM-RL, a hierarchical method for long-range navigation task completion that combines sampling based path planning with reinforcement learning (RL). The RL agents learn short-range, point-to-point navigation policies that capture…

Reinforcement learning (RL) has emerged as a promising strategy for finetuning small language models (SLMs) to solve targeted tasks such as math and coding. However, RL algorithms tend to be resource-intensive, taking a significant amount…

Deep reinforcement learning (RL) algorithms can learn complex policies to optimize agent operation over time. RL algorithms have shown promising results in solving complicated problems in recent years. However, their application on…

Reinforcement learning and symbolic planning have both been used to build intelligent autonomous agents. Reinforcement learning relies on learning from interactions with real world, which often requires an unfeasibly large amount of…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…